Publication
Robust mobile robot localization based on security laser scanner
| dc.contributor.author | Sobreira, Héber | |
| dc.contributor.author | Moreira, António Paulo G. M. | |
| dc.contributor.author | Costa, Paulo Gomes da | |
| dc.contributor.author | Lima, José | |
| dc.date.accessioned | 2018-02-19T10:00:00Z | |
| dc.date.accessioned | 2018-03-12T15:55:56Z | |
| dc.date.available | 2018-01-19T10:00:00Z | |
| dc.date.available | 2018-03-12T15:55:56Z | |
| dc.date.issued | 2015 | |
| dc.description.abstract | This paper addresses the development of a new localization system based on a security laser presented on most AGVs for safety reasons. An enhanced artificial beacons detection algorithm is applied with a combination of a Kalman filter and an outliers rejection method in order to increase the robustness and precision of the system. This new robust approach allows to implement such system in current AGVs. Real results in industrial environment validate the proposed methodology. | en_EN |
| dc.description.sponsorship | The work presented in this paper, being part of the Project "NORTE-07-0124-FEDER-000060" is financed by the North Portugal Regional Operational Programme (ON.2 – O Novo Norte), under the National Strategic Reference Framework (NSRF), through the European Regional Development Fund (ERDF), and by national funds, through the Portuguese funding agency, Fundação para a Ciência e a Tecnologia (FCT). | |
| dc.description.version | info:eu-repo/semantics/publishedVersion | en_EN |
| dc.identifier.citation | Sobreira, Héber; Moreira, A. Paulo; Costa, Paulo Gomes; Lima, José (2015). Robust mobile robot localization based on security laser scanner. In Proceedings - 2015 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2015. p. 162-167. ISBN 978-1467369909 | en_EN |
| dc.identifier.doi | 10.1109/ICARSC.2015.28 | en_EN |
| dc.identifier.uri | http://hdl.handle.net/10198/15359 | |
| dc.language.iso | eng | |
| dc.peerreviewed | yes | en_EN |
| dc.subject | AGV | en_EN |
| dc.subject | Artificial beacons | en_EN |
| dc.subject | Kalman filter | en_EN |
| dc.subject | Localization | en_EN |
| dc.subject | Mobile robotics | en_EN |
| dc.subject | Outliers rejection | en_EN |
| dc.subject | Security laser | en_EN |
| dc.title | Robust mobile robot localization based on security laser scanner | en_EN |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| person.familyName | Lima | |
| person.givenName | José | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 55851941311 | |
| rcaap.rights | openAccess | en_EN |
| rcaap.type | conferenceObject | en_EN |
| relation.isAuthorOfPublication | d88c2b2a-efc2-48ef-b1fd-1145475e0055 | |
| relation.isAuthorOfPublication.latestForDiscovery | d88c2b2a-efc2-48ef-b1fd-1145475e0055 |